End effectors actuation platform

ABSTRACT

An endoscopic device includes a base, one or more end effectors, and an actuating assembly. The base includes a cylindrical shaft will a hollow interior. The end effectors are connected to the distal portion of the base such that the end effectors are movable between open and closed positions. The actuating assembly moves the end effectors between the open and closed position. The actuating assembly includes a driver that has at least one stopper feature extending radially from the driver shaft. The driver of the actuating assembly is at least partially disposed within the hollow interior of the base such that the stopper feature is movable in an opening of the base. The stopper feature engages a distal edge of the opening to prevent movement of the driver in a distal direction relative to the base and engages a proximal edge of the opening to prevent movement of the driver in a proximal direction relative to the base. Movement of the driver in the distal direction causes the end effectors to move to the open position, and movement of the driver in the proximal direction causes the end effectors to move to the closed position.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation application of U.S. patentapplication Ser. No. 16/192,757, file Nov. 15, 2018, which claimsbenefits and priority to U.S. Provisional Patent Application No.62/586,573, filed on Nov. 15, 2017, and U.S. Provisional PatentApplication No. 62/586,515, filed on Nov. 15, 2017, the entiredisclosures of which are incorporated herein by reference.

FIELD OF THE INVENTION

The various embodiments relate to any end effectors at the distalportion of an endoscopic device like forceps for example, having astopper feature on a drive arm to determine the maximum angle a pair ofjaws can open when actuating the jaws. The actuation feature can be usedto actuate jaws on endoscopic forceps but is not limited to such a use.

BACKGROUND INFORMATION

Conventional endoscopic devices, such as biopsy forceps, typicallycontain drive arms. Having at least two drive arms, the conventionalendoscopic forceps extend outward from a longitudinal axis of the devicewhen a conventional jaw assembly is opened and closed. The drive armscan limit a user's visibility when locating the tissue sample to take,and result in a longer rigid length which limits its ability to passthrough an articulated scope. It can also cause tissue damage duringelectro-cauterization because the surrounding tissue is not easilyinsulated from the conductive drive wires. These and other problemsexist with conventional endoscopic devices.

Improvements to forceps or other devices requiring end effectors can bemade by improving the drive mechanism of the jaws such that the driveronly extends in a longitudinal direction and not outward from theoverall outer profile of the device.

SUMMARY OF THE INVENTION

An exemplary embodiment of an endoscopic device includes a base, one ormore end effectors, and an actuating assembly. The base includes acylindrical shaft will a hollow interior, in which the cylindrical shafthas a proximal portion and a distal portion, and in which the proximalportion has at least one opening. The end effectors are connected to thedistal portion of the base such that the end effectors are movablebetween open and closed positions. The actuating assembly moves the endeffectors between the open and closed position. The actuating assemblyincludes a driver that has a driver shaft, a proximal end, a distal end,and at least one stopper feature extending radially from the drivershaft. The driver of the actuating assembly is at least partiallydisposed within the hollow interior of the base such that the stopperfeature is movable in the proximal opening of the base. The stopperfeature engages a distal edge of the proximal opening to preventmovement of the driver in a distal direction relative to the base andengages a proximal edge of the proximal opening to prevent movement ofthe driver in a proximal direction relative to the base. Movement of thedriver in the distal direction causes the end effectors to move to theopen position, and movement of the driver in the proximal directioncauses the end effectors to move to the closed position.

An exemplary embodiment of a method of using a driver of an actuatorassembly to move at least one end effector that is connected to a basebetween an open position and a closed position includes pushing theriver through at least a portion of a hollow interior of the base in adistal direction relative to the base until at least one stopper featureof the driver abuts a distal edge of an opening in the base. The endeffector is in the open position when the stopper feature abuts thedistal edge of the opening. The method also includes pulling the driverthrough at least a portion of the hollow interior of the base in aproximal direction until the stopper feature abuts a proximal edge ofthe opening in the base. The end effector is in a closed position whenthe stopper feature abuts the proximal edge of the opening.

Another exemplary embodiment of an endoscopic device includes a base, adriver, and a connector. The base has a first base component and asecond base component, in which both the first base component and thesecond base component have a proximal portion and a distal portion. Theproximal portion of both the first and second base components includesan opening. The first base component has one or more first baseconnectors, and the second base component has one or more second baseconnectors. The first base connectors are configured to connect to thesecond base connectors such that the first and second base componentsform a cylindrical shaft with a hollow interior. The driver has a drivershaft, a proximal end, a distal end, and at least one stopper featureextending radially from the driver shaft. The stopper feature is movablewith at least one of the openings of the first and second basecomponents when the first base connectors of the first base componentare connected to the second base connectors of the second basecomponent. The connector is configured to connect to the proximal end ofboth the first base component and the second base component to hold thefirst and second base components together when the first base connectorsare not connected to the second base connectors.

These and aspects of the exemplary embodiments will become apparent fromthe following detailed description, taken in conjunction with theaccompanying drawings, illustrating by way of example the principles ofthe various exemplary embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to facilitate a fuller understanding of the exemplaryembodiments, reference is now made to the appended drawings. Thesedrawings should not be construed as limiting, but are intended to beexemplary only.

FIG. 1 depicts a side view of an exemplary embodiment of forceps;

FIG. 2 depicts a top view of the forceps of FIG. 1;

FIG. 3 depicts an exploded view of The forceps of FIG. 1;

FIG. 4A depicts a side view of an exemplary embodiment of a driverhaving an exemplary embodiment of a stopper for the forceps of FIG. 1;

FIG. 4B depicts a top view of the driver of FIG. 4A;

FIG. 5A depicts an outside view of an exemplary embodiment of a basecomponent for the forceps of FIG. 1;

FIG. 5B depicts an inside view of an exemplary embodiment of a basecomponent for the forceps in FIG. 1;

FIG. 5C depicts a perspective view of another exemplary embodiment of abase component for the forceps of FIG. 1;

FIG. 5D depicts an inside view of the base component of FIG. 5C;

FIG. 5E depicts an outside view of the base component of FIG. 5C;

FIGS. 6A and 6B depict views of exemplary embodiments of jaw componentsfor the forceps of FIG. 1;

FIG. 7A depicts an exemplary embodiment of a base and an exemplaryembodiment of a driver for the forceps of FIG. 1, in which the driver isin a first position relative to the base;

FIG. 7B depicts the base and driver of FIG. 7A, in which the driver isin a second position relative to the base;

FIGS. 8A and 8B depict cross-sectional side views of the forceps of FIG.1 with base and driver of FIG. 7A in the first and second positions,respectively; FIGS. 9A and 9B depict top views of the forceps of FIG. 1with the base and drive of FIG. 7A in the first and second positions,respectively;

FIGS. 10A and 10B depict perspective views of the forceps of FIG. 1 withexemplary embodiments of end effectors in the closed and open positions,respectively;

FIG. 11 depicts a perspective view of an exemplary embodiment of aconnector for connecting to the base components of FIG. 11;

FIG. 12 depicts an exemplary embodiment of a connector element for thebase components of FIG. 11;

FIGS. 13A-13C depict stages of assembly of the forceps of FIG. 1 withthe connected base components of FIG. 11 and the connector element ofFIG. 12;

FIG. 14 depicts a perspective view of another exemplary embodiment ofconnected base components;

FIG. 15 depicts an exemplary embodiment of a connector element for thebase components of FIG. 14;

FIGS. 16A-16C depict stages of assembly of the forceps of FIG. 1 withconnected base components of FIG. 14 and the connector element of FIG.15; and

FIGS. 17-21 depict the engagement between the driver of FIG. 4A and thejaw components of FIGS. 6A and 6B for the forceps of FIG. 1.

DETAILED DESCRIPTION OF EMBODIMENTS

The following description is intended to convey a thorough understandingof the embodiments by providing various embodiments and detailsinvolving a driver assembly for forceps. It is understood, however, thatthe invention is not limited to these specific embodiments and details,which are exemplary only. It is further understood that one possessingordinary skill in the art, in light of known devices, systems andmethods, would appreciate the use of the invention for its intendedpurposes and benefits in any number of alternative embodiments.

Generally speaking, the driver assembly for various end effectors couldbe utilized, but as an example, forceps were chosen. The forceps of thevarious exemplary embodiments described herein have at least one stopperon the driver that engages with the sidewalls of at least one opening inthe base, such that when the stopper engages with the distal-most wallin the base opening, jaws or any other grasping tools attached to thedistal end of the assembly are in a fully opened position. Similarly,when the at least one stopper on the driver is abutting theproximal-most wall in the base opening, jaws or any other grasping toolsattached to the distal end of the assembly are in a fully closedposition. Having a stopper that prevents a driver assembly fromcontinuing movement (and thus providing a force to the jaws or othergrasping tools) is advantageous because it prevents the jaws fromdisengaging with the base and/or drive assembly and prevents overtravelof the jaws to a more open position than desired.

In an exemplary embodiment, a device for obtaining a tissue sample has abase, where the base has a cylindrical shaft with a hollow interior,open distal end, and open proximal end, a first distal opening and asecond distal opening along a distal portion of the shaft, and a firstproximal opening and a second proximal opening along the shaft proximalof the first and second distal openings. The center of the shaft of thebase defines a longitudinal axis. The device also has a driver with ashaft, a proximal end, a distal end, and at least one stopper featureextending radially from a shaft of the driver. The first and secondproximal openings of the base having a distal edge and a proximal edgesuch that the at least one stopper feature abuts the distal edge of theproximal opening when the driver is moved distally in relation to thebase, and the at least one stopper feature abuts the proximal edge ofthe proximal opening when the driver is moved proximally in relation tothe base.

A method of using an exemplary embodiment of a device having a jawassembly to obtain a tissue sample includes the step of opening a pairof jaws by pushing one or more drive wires in a distal direction tocause one of more drive member to move in a distal direction. The distalmovement of the drive arm initiates opening of the distal ends of thejaw members apart from each other by pushing on an outer surface of eachof at least two internal jaw arms, and the drive member also engageswith the proximal ends of the internal jaw arms to push on the proximalof the internal jaw arms until the jaws are in a fully opened position.A method of using exemplary embodiment of the invention to obtain atissue sample also includes closing the pair of jaws around a volume oftissue, This can include the steps of pulling a drive member or membersin a proximal direction, to cause the distal surface of the internal jawarms to pull the internal jaw arms in a proximal direction until thejaws are in a closed position and have grasped a tissue volume. Thetissue can then be torn or removed from the body.

In certain embodiments, the method includes the steps of pushing a drivearm forward in a distal direction at least partially through a baseuntil at least one stopper feature abuts a distal edge of an opening inthe base, where a pair of jaws are opened; and pulling a drive armbackward in a proximal direction at least partially through a base untilthe at least one stopper feature abuts a proximal edge of the opening inthe base, such that the jaws are closed.

The various exemplary embodiments generally describe devices that have asingle drive arm that can be used to open and close a pair of jaws thattear or pull a volume of tissue away from a greater volume of tissue.However, the various embodiments are not so limited. For example, invarious embodiments, various style jaws can be used on the device, andvarious extensions can exist on the distal end of the driver, such as topierce or cauterize tissue.

FIGS. 1 through 16C illustrate various exemplary embodiments of a device100 for obtaining a tissue sample. Referring to FIGS. 1 through 3, thedevice 100 has a base 101 made of two pieces, a first base component 102and a second base component 103 that fit together to create asubstantially cylindrical shape with a hollow interior with an openproximal end and an open distal end. FIGS. 1 through 3 also depict anexemplary embodiment of a driver 104 and two end effectors 105 and 106.While the end effectors 105, 106 described in the present applicationwith reference to the figures are jaws, it should be understood that theend effectors can take any suitable form, such as, for example, cutters,forceps, manipulators or other suitable end effectors. The driverassembly can be attached to a sheath such as the spring sheath 107. Thedriver 104 is moveable in a proximal direction and a distal directionalong a longitudinal axis that runs through the center of the base, andcan be positioned by a drive wire 108 connected to a proximal end of thedriver. The driver 104 can be made of a non-conductive material ifelectric current is not intended to run through it. The drive wire 108can be made of any suitable material, such as, for example, any suitablemetal or non-metal material.

Referring to FIG. 3, an exploded view of a driver assembly in accordancewith an exemplary embodiment is illustrated. Driver 104 is depicted, aswell as first base component 102 and second base component 103. Alsodepicted are jaw pieces 105, 106 with arms 109, 110 at the proximal endsshaped to engage with the driver and base components. A sheath 107,which can be a spring sheath or any other commercially available sheath,and a drive wire 108 are also illustrated. The driver can be made ofstainless steel, or any other material that is commercially used indriver arms for endoscopic forceps tools. The base components can alsobe made of stainless steel, or other commercially available materials.The remaining components can be made of any materials that arecommercially known to be used in the field of endoscopic graspers andtools, and drive wire associated with such tools.

FIG. 4A depicts a side view, and FIG. 4B depicts a top view, of a driverin accordance with an exemplary embodiment. The driver 104 is asubstantially elongate member having a proximal end and a distal end.The proximal end of the driver can have an opening in the side 111, andan opening at the proximal end 112, to allow for a drive wire to beattached, and thus move the driver in both proximal and distaldirections through a sheath and base.

The distal end of the driver includes an engagement feature 113 forengaging the jaws 105, 106. The engagement feature 113 can be one of avariety of shapes designed to abut and engage with the jaws. The distalportion of the driver as illustrated in FIG. 4A can have a narrowercross-sectional area than the proximal portion of the driver. Referringto FIGS. 4A and 4B, in certain embodiments, the driver 104 also includestwo engagement features 115 that are disposed on a more proximalposition of the driver as compared to the distal engagement feature 113.The engagement features 115 are also for engaging with the jaws 105 and106. The driver 104 also has two stoppers 114 extending therefrom thatare positioned to engage with the base 101 to prevent the driver 104from moving too far distally when the jaws 105, 106 are to be opened,and from moving too far proximally when the jaws 105, 106 are to beclosed.

FIGS. 5A and 5B illustrate an exemplary embodiment of the components102, 103 that make up the base 101 of the driver assembly for forcepsaccording to an exemplary embodiment. FIG. 5A illustrates the outersurface of a base component 102. FIG. 5B illustrates an inside view of abase component 102. The curvature of the surface is evident in theperspective illustrations in FIGS. 10A and 10B. The distal portion 116of the base components 102, 103 has an opening 118 for the proximal endof a jaw 105, 106 to fit into and pivot about. The proximal portion 120of the base components 102, 103 have a proximal opening 121 forreceiving the stoppers 114 of the driver 104. That is, proximal opening121 is sized for a stopper 114 to fit at least partially through, in adirection perpendicular to a longitudinal axis of the assembly. FIG. 5Bfurther illustrates pins 122 and indentations 123 of one base component102 that interlock with aligned pins and indentations on the second basecomponent 103. The distal portion 116 of the base 101 also has a distalring 117 which can be used to provide pivot points for end effectors asthey open and close. Base component 103 can be identical to basecomponent 102 in accordance with an exemplary embodiment.

FIGS. 5C-5E illustrate another exemplary embodiment of a base component129. As with the embodiment illustrated in FIGS. 5A and 5B, twoidentical base components 129 can interlock together to comprise thebase, and can be used instead of base components 102, 103. Basecomponent 129 has substantially the same shape and openings as basecomponent 102. Two base components 129 can fit together by interlockingpieces. Each base component 129 can have an indentation (not shown) onone side of the distal portion 116 which forms a snug fit withprotrusion (not shown) on the other side of the distal end 116 of thebase component. In the illustrated embodiment, indentation 132, on theproximal portion 120 of the base component, forms a connecting fit withprotrusion 133, located on the proximal portion 120 of the other basecomponent. The end effector internal arms 109, 110 interlock with distalopenings 118, and the stopper 114 interlocks with proximal openings 121of the base component as described herein with respect to base componentpieces 102 and 103.

Referring to FIG. 11, an embodiment of a connector 134 for basecomponents 129 is illustrated. The connector 134 can be made offluorinated ethylene propylene or other polymers that do not conductelectric current, or can be made of the same material as the basecomponents. The base components can take the form of base components 129illustrated in FIGS. 5C-5E, or can take the form of base components 102,103 illustrated in FIGS. 5A-5B. FIG. 12 illustrates a single connectorelement 134 independent from the base components 12. The connector isformed and flexible, and can have a substantially “v” shape, with thebend of the “v” defining a proximal end and two legs extending toward adistal end. The connector is open at the distal end and closed at theproximal end. The distal end of the connector is where the connector isconnected to the base component, with one leg 135 connected to aproximal end of each base component 129. The connectors assist inassembly of the device, in particular the assembly of the basecomponents onto the driver 104 and end effectors 105, 106. The connector134 can be made by pouring a polymer into a mold, or it can be made byany other known method.

As illustrated in FIG. 13A, the jaws 105, 106 have been assembled overthe distal end of the driver 104. The base components 129 have beenconnected to each other with connectors 134, and while in an openconfiguration, the base components 129 are ready to be placed over thedrive arm 104. FIG. 13B illustrates the base components when moved intoa position such that they are surrounding the drive arm 104 and still inan open configuration. The protrusions and indentations on the basecomponents 129 can be those described with reference to FIGS. 5C through5E. Referring to FIG. 13B, the protrusions of one base component havenot yet come into contact with the indentations of the other basecomponent. In some embodiments, the base components can be weldedtogether. The connectors 134 assist the protrusions and indentations inattaining proper alignment when the base components 129 are moved into aclosed position over the drive arm 104 and jaws 105, 106 as illustratedin FIG. 13C. When the base components 129 are moved into a closedposition, the arms 109, 110 of the end effectors 105, 106 and theengagement features 113, 115 of the driver 105 are proximate to thedistal openings 118 of the base components 129, and the stoppers 114,115 of the driver 104 are in the proximal openings 121 of the basecomponents 129. Once assembled, the connectors 134 can be removed fromthe base components 129. Removal of the connectors 134 from the basecomponents 129 is not required.

FIG. 14 illustrates an exemplary embodiment of a split-fork bendablejoint 136 that can be used to assist in clamping together basecomponents 129. As illustrated in FIG. 15, bendable joint 136 has aproximal end 137 and a distal end 138. The proximal end 137 can have acylindrical shape with a lumen running therethrough, of a sizesufficient to fit over a proximal end of a drive arm. The distal end 138can be the split-fork end of the split-fork bendable joint, and can havea cylindrical shape when in a closed position but can separate along thesplit so that two separate pieces 139 and 140 are angled away from eachother along a longitudinal axis, but remain joined to the proximalportion 137. Referring again to FIG. 14, the distal end pieces 139, 140of the split-fork bendable joint 136 can be attached to the proximalends of the base components 129. The split fork ends 139, 140 can besecured to the base components 129 in any reasonable manner. In anexemplary embodiment, they can be molded to, or glued to, or welded tothe base component. The proximal portion 137 can be a barrel. The barrelcan have varying lengths. The split-fork bendable joint can be made offluorinated ethylene propylene or any material that does not conductelectric current and has flexibility to it.

As illustrated in FIG. 16A, the end effectors 105, 106 have beenassembled over the distal end of the driver 104. The distal end pieces139, 140 of the split-fork bendable joint 136 have been secured to theproximal ends of the base components 129, but remain in an openconfiguration. FIG. 16B illustrates the base components when moved intoa position such that they are surrounding the drive arm 104 and still inan open configuration. Protrusions and indentations on the basecomponents 129 can be those of FIGS. 5C-5E in an exemplary embodiment.Referring to FIG. 16B, the protrusions of one base component have notyet come into contact with the indentations of the other base component.In certain embodiments, the base components can be welded together. Thesplit-fork bendable joint 136 assists the protrusions and indentationsattain proper alignment when the base components 129 are moved into aclosed position over the drive arm 104 and jaws 105, 106 as illustratedin FIG. 16C. When the base components 129 are moved into a closedposition, the arms 109, 110 of the end effectors 105, 106 and theengagement features 113, 115 of the driver 104 are proximate the distalopenings 118 of the base components 129, and the stoppers 114, 115 ofthe driver 104 are in the proximal openings 121 of the base components129.

The use of the connectors and a split-fork bendable joint describedherein is not limited to forceps, and may be used for a more efficientassembly process of endoscopic tools and biopsy graspers.

A slip ring (not shown) can be used in an exemplary embodiment to holdtogether base components 129 during the assembling and/or weldingprocess. The slip ring can be used independently of, or in conjunctionwith, a connector or a split-fork bendable joint.

Referring to FIGS. 8A through 8B and FIGS. 17 through 21, the endeffectors 105, 106 are moved from a closed position (as shown in FIG.8A) to an open position (as shown in FIG. 8B) by moving the driver 104in the direction D, and the end effectors are moved from the openposition to the closed position by moving the driver 104 in thedirection X. When the end effectors 105, 106 are in the closed position,the engagement feature 113 at the distal end of the driver 104 ispositioned to engage an angled surface 217 of the end effectors 105,106, and the one or more engagement features 115 (FIGS. 4A and 4B) arepositioned to engage the arms 109, 110 (FIGS. 17-21) of the endeffectors 105, 106. In the illustrated embodiment, the engagementfeature 113 has angled surfaces 145, 146 for engaging the angled surface217 of the end effectors 105, 106. Movement of the driver 104 in thedirection D causes the distal engagement feature 113 to engage theangled surface 217 of the end effectors 105, 106 and causes the one ormore engagement features 115 to engage the arms 109, 110 of the endeffectors 105, 106. Movement of the driver 104 in the direction X causesthe engagement feature 113 to engage the arms 109, 110 to facilitatemovement of the end effectors 105, 106 to the closed position.

Referring to FIG. 17, in the illustrated embodiment, the end effectors105, 106 are a pair of jaws that include a first jaw 105 and a secondjaw 106. Each jaw 105, 106 has a proximal portion 230 and a distalportion 216, in which the proximal portion 230 is connected to the base101, and in which the distal portion 116 extends in a distal directionaway from the base 101. The proximal portion 230 of both the first jaw105 and the second jaw 106 includes at least one arm 109, 110 forconnecting to the base 101. The arms 109, 110 can include an inwardlyextending piece 220, an outward extending protrusion 231, a proximatelylocated curved portion 218, and an outward curved portion 221. When thejaws 105, 106 are connected to the base 101, an outer ring 117 of thebase 101 is disposed in the outward curved portion 221 of the arms 109,110 such that the jaws 105, 106 can pivot about the outer ring 117 ofthe base. The inwardly extending piece 220 extends into the hollowinterior of the base 101 such that the engagement features 113, 115 ofthe driver 105 can engage the arms 109, 110. In certain embodiments, theoutward extending protrusion 231 extends into an opening 118 at thedistal portion of the base 101 such that the outward extendingprotrusion 231 does not extend outward beyond the outer wall of the base101 when the jaws 105, 106 pivot between the open and closed positions.

Still referring to FIG. 17, the driver 104 includes a first engagementfeature 113 and a second engagement feature 115. In certain embodiments,the first engagement feature 113 has distal portion having angledsurfaces 145, 146 and a proximal portion having a concave proximalsurface 249, and the engagement feature 115 a round proximal surface 241and a concave distal surface 243. The concave distal surface 243 of theengagement feature 115 is configured to engage the arms 109, 110 tocause the arms 109, 110 of the end effectors 105, 106 such that the arms109, 110 to pivot about the base 101 without becoming locked or jammed.For example, concave distal surface 243 of the engagement feature 115 isconfigured to engage the proximately curved proximal portion 218 of thearms 109, 110 to cause the arms 109, 110 to pivot about the base 101,which prevents the arms 109, 110 from locking or jamming. Similarly, theconcave proximal portion 249 of the engagement feature 113 is configuredto engage the arms 109, 110 when the end effectors 105, 106 are beingmoved to a closed position such that the arms 109, 110 pivot about thebase 101 without becoming locked or jammed. In certain embodiments, theround proximal surface 241 of the engagement feature 115 are configuredto engage the proximately located curved portion 218 of the arms 109,110 to prevent arms 109, 110 from pivoting once the end effectors 105,106 are in a fully open position.

FIGS. 17 through 21 illustrate an exemplary embodiment of the engagementbetween the driver 104 and the end effectors 105, 106 to move the endeffectors 105, 106 between the open and closed positions. Referring toFIG. 17, in an initial position, the first engagement feature 113 on thedriver 104 is positioned to engage the angled surface 217 of each jaw105, 106, and the second engagement feature 115 of the driver 104 ispositioned to engage the arms 109, 110. Referring to FIG. 18, the driver104 is moved in the direction D, which causes the engagement feature 113to engage the angled surface 217 of the jaws 105, 106 and the move thejaws 105, 106 to a first partially-opened position. Referring to FIG.19, the continued movement of the driver 104 in the direction D causesthe engagement feature 115 to engage the arms 109, 110 to cause the arms109, 110 to pivot about the ring 117 of the base 101 such that jaws 105,106 move to a second partially-opened position. In the secondpartially-opened position, the engagement feature 113 is no longerengaging the jaws 105, 106 and is extended into the area between thedistal portion 216 of each jaw member 105, 106.

Referring to FIG. 20, the driver 104 is moved in the direction D untilthe jaws 105, 106 are in the fully-opened position. In certainembodiments, when the jaws 105, 106 are in the fully opened position,the engagement feature 115 locks the jaws 106, 107 into position suchthat the jaws are not capable of opening any further. When the jaws 106,107 are closed (as shown in FIG. 8A), the interior angle between thejaws is about zero (0) degrees, and when the jaws are fully opened (asshown in FIG. 20), the interior angle between the jaws is at a maximum,which can range from about eighty-five (85) degrees to about one hundredten (110) degrees.

FIG. 21 illustrates the jaws 105, 106 beginning to move from an openposition to the closed position. In the illustrated embodiment, driver104 is pulled in a proximal direction X, which causes the engagementfeature 113 of the driver 104 to engage the inwardly facing arms 109,110 such that the arms 109, 110 are pushed in a proximal direction,thereby causing the curved portion 221 of the jaws to pivot around thering 117 of the base 101. Thus the jaws pivot and close, and the anglebetween them decreases.

Referring to FIGS. 7A and 7B, the stoppers 114, 115 are sized and shapedto fit within the openings 121 of the base 101. The stoppers 114 areconfigured to prevent the end effectors 105, 106 from disengaging thebase 101 and/or the driver 104, and the stoppers 114 are configured toprevent over travel of the end effectors 105, 106 when the end effectorsare moving to an open position. Referring to FIGS. 7A and 8A, when thestopper 114 is in a first position relative to the base 101 the stopperprevents the end effectors 106, 107 from disengaging. In the firstportion, the stopper 114 engages a proximal side 124 of the proximalopening 121 of the base 101. Referring to FIGS. 7B and 8B, when thestopper 114 is in a second position relative to the base 101, thestopper prevents the end effectors from extending open past a fully openposition. In the second position, the stopper 114 engages a distal side125 of the proximal opening 121. That is, the engagement between thestopper 114 and the distal side 125 of the proximal opening 121 sets themaximum angle at which the end effectors can be opened, and prevents theapplication of too much force to open and unintentionally lock the endeffectors in an open position due to disengagement of the end effectorsfrom the base 101 and/or the driver 104.

Further, the single driver 104 and at least one stopper 114 allows theassembly to be used endoscopically, as there is no increase in thecross-sectional area, or diameter, of the components. There are no drivearms extending radially outward from the device, even when used incombination with an actuator assembly and drive wire to control thedriver. There can be two stoppers 114.

Referring to FIGS. 6A and 6B, jaw component 105, 106 in accordance withan exemplary embodiment are illustrated. The jaw components illustratedhere are not meant to be limiting. Any end effector elements can be usedinstead of the jaws depicted in FIGS. 6A and 6B, such as any cups,grasper elements, sampling elements, biopsy elements, cutting elements,heat application elements, or drug delivery elements. FIG. 6Aillustrates an outside view of a jaw element. FIG. 6B illustrates aninside view of a jaw element. Jaw components 105, 106 each have aproximal end, each with an inwardly extending arm 109 (or 110 on jawcomponent 106). The inwardly extending arms in an exemplary embodimentare of a size and shape to engage with openings 118 in the distalportion of the base 101, and such that the end effector portions of thejaws extend distally from an opening 126 at the distal end of the base.In certain embodiments, the arms 109, 110 do not extend beyond the outerwall of the base 101 when the end effectors are moved between the openand closed positions. These embodiments are advantageous because lessprotrusions are extending outward from a longitudinal axis of the base101 (as compared to conventional forceps that include protrusions thatextend outward when beyond the outer wall of the base) that couldcontact surrounding tissue during use of the device 100. End effectorscan but are not required to have an opening 128.

In an exemplary embodiment, two jaw components are each moveable and canopen and close, based on the position of the drive arm. In anotherexemplary embodiment, one jaw can be moveable and another jaw can bestationary. In this exemplary embodiment, the stationary jaw componentcan be fixedly attached to the base component. The drive arm and basecomponent pieces can be adjusted to accommodate the fixed jaw component.The moveable jaw component can operate to open and close as describedherein.

FIGS. 9A and 9B are top views of the device 100 in a closed position andopen position, respectively. FIGS. 9A and 9B provide an additionalillustration of how the components all fit together and engage with eachother in both open and closed positions. In the closed position of FIG.9A, the stopper 114 is against the proximal wall of the proximal opening121 of the base 101. The distal opening 118 of the base 101 has aportion of the jaw arm 109 extending at least partially through it, suchthat the end effector can pivot about a distal ring portion 117 of thebase 101. In FIG. 9B, the stopper and driver have both been pushedforward in a distal direction, and the end effectors 105, 106 are open.The stopper 114 is in contact with the distal portion of distal opening125. The end effectors have pivoted around on the distal ring 117 of thebase, and a lesser portion of the jaw arm 109 is extending through theopening 118 at the distal portion of the base. In FIG. 9B, the distalend of the driver 104 has extended out beyond the base 101 in a distaldirection.

FIGS. 10A and 10B illustrate perspective views of the assembly inaccordance with an exemplary embodiment. FIG. 10A is a top view of theassembly when the driver 104 is in a proximal position relative to thebase 101, and the end effectors 105, 106 are closed. FIG. 10B is anillustration of when the driver is in a distal position relative to thebase, and the end effectors are in the maximal open position they can bein, due to the restraint of the stopper against the distal wall of theopening 121 in the base.

In another exemplary embodiment, there can be three or four jaws. Thebase component and drive arm can be of size and shape to accommodatemultiple jaws. In the embodiments of three or four jaws, there can beone fixed jaw, or all jaws open and close in accordance with themovement of the drive arm. The embodiments described herein areexemplary, and any end effector can be used for any of the fixed ormoveable jaws, in any combination.

Accordingly, the various embodiments are not to be limited in scope bythe specific embodiments described herein. Further, although some of theembodiments have been described herein in the context of a particularimplementation in a particular environment for a particular purpose,those of ordinary skill in the art should recognize that its usefulnessis not limited thereto and that the various embodiments can bebeneficially implemented in any number of environments for any number ofpurposes. Accordingly, the claims set forth below should be construed inview of the full breadth and spirit of the embodiments as disclosedherein. While the foregoing description includes many details andspecificities, it is to be understood that these have been included forpurposes of explanation only, and are not to be interpreted aslimitations of the various embodiments. Many modifications to theembodiments described above can be made without departing from thespirit and scope of this description.

1. An endoscopic device, comprising: a base comprising a cylindricalshaft with a hollow interior, the cylindrical shaft having a proximalportion and a distal portion, wherein the proximal portion comprises atleast one proximal opening; one or more end effectors connected to thedistal portion of the base, wherein the one or more end effectors aremovable between an open position and a closed position; and an actuatingassembly for moving the one or more end effectors between the openposition and the closed position, the actuating assembly comprising adriver that includes a driver shaft, a proximal end, and a distal end,wherein the driver shaft comprises at least one protruding portionextending radially from the driver shaft; wherein the driver of theactuating assembly is at least partially disposed within the hollowinterior of the base such that the at least one protruding portion ismovable in the at least one proximal opening of the base; wherein the atleast one protruding portion engages a distal edge of the at least oneproximal opening to prevent movement of the driver in a distal directionrelative to the base and engages a proximal edge of the at least oneproximal opening to prevent movement of the driver in a proximaldirection relative to the base; wherein movement of the driver in thedistal direction causes the one or more end effectors to move to theopen position, and movement of the driver in the proximal directioncauses the one or more end effectors to move to the closed position. 2.The device according to claim 1, wherein the at least one proximalopening of the base comprises a first proximal opening and a secondproximal opening.
 3. The device according to claim 2, wherein the atleast one protruding portion of the driver comprises a first protrudingportion and a second protruding portion, and wherein the firstprotruding portion is movable in the first proximal opening and thesecond protruding portion is movable in the second proximal opening. 4.The device according to claim 1, wherein the distal portion of the basecomprises at least one distal opening, and wherein the one or more endeffectors have at least one arm that is at least partially disposed inthe distal opening of the base.
 5. The device according to claim 4,wherein the driver of the actuating assembly has at least one engagementfeature disposed along the driver shaft that is configured to engage theat least one arm of the one or more end effectors to move the one ormore end effectors between the open and closed positions.
 6. The deviceaccording to claim 5, wherein the at least one engagement feature of thedriver comprises a distal engagement feature disposed at the distal endof the driver and a second engagement feature disposed between thedistal engagement feature and the proximal end of the driver.
 7. Thedevice according to claim 6, wherein the second engagement featurecomprises a round proximal surface and a distal concave surface, whereinthe distal concave surface is configured to prevent the one or more endeffectors from locking as the driver is moved in the distal direction.8. The device according to claim 6, wherein movement of the driver inthe distal direction causes the second engagement feature of the driverto engage the at least one arm of the one or more end effectors to movethe one or more end effectors to the open position.
 9. The deviceaccording to claim 6, wherein movement of the driver in the proximaldirection causes the distal engagement feature of the driver to engagethe at least one arm of the one or more end effectors to move the one ormore end effectors to the closed position.
 10. The device according toclaim 1, wherein the one or more end effectors comprise a pair of jaws.11. A method of using a driver of an actuator assembly to move at leastone end effector that is connected to a base between an open positionand a closed position, the driver having a driver shaft, a proximal end,and a distal end, the driver shaft comprising at least one protrudingportion extending radially from the driver shaft, the method comprising:pushing the driver through at least a portion of a hollow interior ofthe base in a distal direction relative to the base until the at leastone protruding portion abuts a distal edge of an opening in the base,wherein the at least one end effector is in the open position when theat least one protruding portion abuts the distal edge of the opening;pulling the driver through at least a portion of the hollow interior ofthe base in a proximal direction until the at least one protrudingportion abuts a proximal edge of the opening in the base, wherein the atleast one end effector is in the closed position when the at least oneprotruding portion abuts the proximal edge of the opening.
 12. Themethod according to claim 11, wherein the at least one end effectorcomprises at least one arm that is pivotally connected to the base andat least partially disposed within the hollow interior of the base suchthat pushing the driver in the distal direction causes driver to engagethe at least one arm of the at least one end effector to move the atleast one end effector to the open position.
 13. The method according toclaim 12, wherein the pulling of the driver in the proximal directioncauses driver to engage the at least one arm of the at least one endeffector to move the at least one end effector to the closed position.14. The method according to claim 13, wherein the driver comprises adistal engagement feature disposed at the distal end of the driver and asecond engagement feature disposed between the distal engagement featureand the proximal end of the driver.
 15. The method according to claim14, wherein the pushing of the driver causes the second engagementfeature of the driver to engage the at least one arm of the at least oneend effector to move the at least one end effector to the open position,and wherein the pulling of the driver causes the distal engagementfeature of the at least one end effector to engage the at least one armof the at least one end effector to move the at least one end effectorto the closed position.